A dynamic modelling approach is presented to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle conceived as a multi-body underwater system. The vehicle-base is composed by heterogeneous robots and bodies (both actuated or not actuated), rigidly connected giving rise to a multi-body system called "cluster" in the...
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2018 (v1)PublicationUploaded on: April 14, 2023
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2022 (v1)Publication
The knowledge of dynamic models to describe the behaviors of unmanned underwater vehicles allows to design a precise navigation, guidance, and control system. A practical identification strategy is presented in this contribution, a procedure that can be easily executed during field trials and that is able to obtain a rapid assessment about the...
Uploaded on: April 14, 2023 -
2017 (v1)PublicationA practical identification procedure for unmanned underwater vehicles - From modeling to experiments
The need of defining suitable dynamical models for Unmanned Underwater Vehicles (UUVs) is of absolute importance for the sake of a precise motion estimation (needed due the slow rate and low precision measurement usually provided by acoustic devices) and guidance & control system design, where regulation scheme and parameter setting have to be...
Uploaded on: March 27, 2023